Activity for Vasileios Karystinos
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Vasileios Karystinos posted a comment on discussion General Discussion
So far, i 've managed to set up and work out several NMPCs on dspace, using ACADO and qpoases3 by simply following the rules which are found here https://sourceforge.net/p/acado/discussion/general/thread/2873192d/#e2f5 . In order to compile the code for dSpace, I created the mex64 file first by running the code for simulink with the above flags, and then I built the model by adding the required files and directories into the Code Generation panel and the additional flags into the compiler panel....
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Update. It seems that the above solution doesn’t work either on Dspace. When qpoasis3 sources are compiled still errors occur, related to # include "acado_qpoases3_interface.h". I defined the additional flag "DQPOASES_CUSTOM_INTERFACE", but in that way the symbols inside the header file are not predefined from mpc_qpoases3_interface.c/.h" and "mhe_qpoases3_interface.c/.h. The only solution that comes in mind is to "pre-compile" the qpoasis3 for the s-functions using the flag I mention before, however...
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Dear Rien, Thanks for your reply! I think i fixed the problem. Your suggestion to compile only one qpoases solver was the fisrt to come in mind and possibly is the correct one. The problem was that a qpoases file, required to include "acado_qpoases3_interface.h" . In order to generate the code I just changed the prefix "acado" to "mhe" or "nmpc" and i thus it was required 2 qpoasis solvers. I finally resolve the problem by adding an aditional compilling flag "-DQPOASES_CUSTOM_INTERFACE="mhe_qpoases3_interface.h"'into...
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Hi, I am trying to implement 2 S-Functions simultaneously, one for NMPC and the other for MHE (Both solvers are working simultaneously) , for a dspace application. Although the application works perfectly on Simulink, whenever I try to implement on dspace, errors which are related to the fact that same named (qpoases3) are required for the two s-function occur. Firstly, i changed the name and prefix for the mhe (acado--->mhe). However, an error occurs during code generation of ACADO due to the fact...
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Hi, I am trying to implement 2 S-Functions simultaneously, one for NMPC and the other for MHE (Both solvers are working simultaneously) , for a dspace application. Although the application works pefectly on simulink, whenever I try to implement on dspace, errors which are related to the fact that ame named (qpoases3) are recqiured for the two s-function occur. Firstly, i changed the name and prefix for the mhe (acado--->mhe). However, an error occurs during code generation of ACADO due to the fact...
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Hi, I used ACADO Toolkit in order to generate a NMPC solver for a simulink application, using MATLAB interface. In order to do so, I have use the custom s-function, provided by Rien Quirynen in this thread: https://sourceforge.net/p/acado/discussion/general/thread/2873192d/#e2f5. The code was generated without any problems and the outcome of the simulation in Simulink was as predicted, without any warnings or errors. However, I attempted to upload the exported NMPC for a real time application to...
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